Insulating unit and robot

Abstract

An insulating structure disposed so as to intervene between a first member of a robotic arm and an end effector includes a second member fixed to the first member, the end effector being attachable to the second member, and an insulator that insulates the second member from the first member. The second member includes a second hole into which a first bolt that fixes the second member to the first member is inserted, and a third hole into which a second bolt that fixes the end effector to the second member is inserted. The second hole and the third hole are disposed so that, in a state where the second member is fixed to the first member, the position of the third hole matches with the position of a first hole for attachment of the end effector, the first hole being formed beforehand in the first member.

What is claimed is: 
     
       1. An insulating structure disposed so as to intervene between a first member of a robotic arm and an end effector attached to the first member, comprising:
 a second member fixed to the first member, the end effector being attachable to the second member; and 
 an insulator that is disposed between the second member and the first member, and insulates the second member from the first member, 
 wherein the second member includes: 
 a second hole into which a first bolt that fixes the second member to the first member is inserted; and 
 a third hole into which a second bolt that fixes the end effector to the second member is inserted, and 
 wherein the second hole and the third hole are disposed so that, in a state where the second member is fixed to the first member, the position of the third hole matches with the position of a first hole and is colinear with the first hole for attachment of the end effector, 
 wherein the second member includes: 
 a third member including a fourth hole and the second hole that is disposed so as to match with the position of the first hole and is colinear with the first hole, the third member being fixed to the first member; and 
 a fourth member including the third hole disposed so as to match with the position of the second hole, and a fifth hole disposed so as to match with the position of the fourth hole, the fourth member being fixed to the third member, 
 wherein the first bolt is inserted into the second hole and the first hole in order to fix the third member to the first member, and 
 wherein a third bolt is inserted into the fourth hole and the fifth hole in order to fix the fourth member to the third member, 
 wherein a length of each of the first hole, the second hole, the third hole, and the fourth hole is in a same direction. 
 
     
     
       2. The insulating structure of  claim 1 , wherein the first member is rotatable about a rotation axis of the robotic arm, and
 wherein the second hole and the third hole are disposed so that, in the state where the second member is fixed to the first member, a phase of the third hole centering on the rotation axis matches with a phase of the first hole centering on the rotation axis. 
 
     
     
       3. The insulating structure of  claim 1 , wherein the third hole is a threaded hole that is threadedly engageable with the second bolt and does not penetrate the second member. 
     
     
       4. The insulating structure of  claim 1 , wherein the insulator is disposed between the third member and the first member. 
     
     
       5. The insulating structure of  claim 1 , wherein the insulator is disposed between the third member and the fourth member. 
     
     
       6. The insulating structure of  claim 1 , wherein the first hole is a threaded hole threadedly engageable with the first bolt,
 wherein the second hole is a hole penetrating the third member, 
 wherein the third hole is a threaded hole that is threadedly engageable with the second bolt and does not penetrate the fourth member, 
 wherein the fourth hole is a threaded hole that is threadedly engageable with the third bolt and does not penetrate the third member, and 
 wherein the fifth hole is a hole penetrating the fourth member. 
 
     
     
       7. The insulating structure of  claim 1 , wherein the first member includes the first hole, and a sixth hole into which a bolt that fixes the first member to the robotic arm is inserted,
 wherein the second hole is disposed so as to match with the position of the sixth hole, and 
 wherein the first bolt is inserted into the second hole and the sixth hole in order to fix the second member to the first member. 
 
     
     
       8. The insulating structure of  claim 7 , wherein the second hole is a hole penetrating the second member. 
     
     
       9. The insulating structure of  claim 1 , wherein the insulator projects in a second direction more than at least either one of the first member or the second member that are adjacent to the insulator on both sides of the insulator in a first direction that is a direction in which the insulator is sandwiched by the first member and the second member, and
 wherein the second direction is a direction that intersects with the first direction. 
 
     
     
       10. The insulating structure of  claim 1 , wherein the first member has a surface including a mechanical interface with the end effector, and is a part of the robotic arm. 
     
     
       11. The insulating structure of  claim 1 , wherein the first member is rotatable about the rotation axis of the robotic arm, and
 wherein the first member is connected to a drive that gives a rotational driving force to the first member. 
 
     
     
       12. A robot comprising the insulating structure of  claim 1  at the first member of the robotic arm.